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Winch-integrated mobile end-effector for a cable-driven parallel robot with auto-installation

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  • Robot and Applications
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Abstract

A cable-driven parallel robot (CDPR) is a robot in which rigid links are replaced with cables, unlike conventional serial or parallel robots. The main advantages of a CDPR are a relatively large workspace, high payload capacity, and high speed. Given the advantages of CDPR, it has recently been widely studied in the field of monitoring, construction, cleaning, and even rehabilitation. One of the major disadvantages of using a conventional CDPR is that the cables should be manually installed to the main frame prior to the operation of CDPR. This task can sometimes be dangerous and requires a heavy workload. This paper describes the development of a planar CDPR in which cables can be installed automatically using a winch-integrated end–effector that can move as a mobile robot. In addition, the paper describes a variable power transmission winch that changes the path of a power of actuator between a wheel and a winch. Using this mechanism, the number of main actuators and size of the CDPR can be significantly reduced. In this work, our first prototype is developed. A series of experiments demonstrates the viability of automatically installing cables using the proposed mechanism.

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Author information

Authors and Affiliations

  1. School of Mechanical Systems Engineering, Chonnam National University, Gwangju, 61186, Korea

    Deri Wang, Jeongdo Ahn, Jinwoo Jung, Jeong-An Seon, Jong-Oh Park & Seong Young Ko

  2. Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, 42988, Korea

    Sukho Park

Authors
  1. Deri Wang
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  2. Jeongdo Ahn
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  3. Jinwoo Jung
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  4. Jeong-An Seon
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  5. Jong-Oh Park
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  6. Seong Young Ko
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  7. Sukho Park
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Corresponding authors

Correspondence to Seong Young Ko or Sukho Park.

Additional information

Recommended by Associate Editor Yangmin Li under the direction of Editor Fuchun Sun. This research was supported by NSL (National Space Lab) program through the National Research Foundation of Korea funded by the Ministry of Education, Science and Technology (2014034793). Deri Wang and Jeongdo Ahn contributed equally to this work.

Deri Wang received the B.S. degree in the department of Mechanical Engineering from Chonnam National University in 2013. His research interests include cable-driven parallel robot and intelligent robotics for industrial applications.

Jeongdo Ahn received the B.S. degree in the Department of Mechatronics Engineering from Korea University of Technology and Education, Korea in 2012, and M.S. degree in the Department of Mechanical Engineering from Korea Advanced Institute of Science and Technology (KAIST), Korea in 2014. From 2014 to 2015, he works as a research engineer of Electronic Optics/Imaging Radar center at LIG Nex1. In 2016, he moved to Robot Research Initiative (RRI) in Chonnam National University where he is now a researcher of the cable robot team. His research interests include cable-driven parallel robot and intelligent robotics for industrial applications.

Jinwoo Jung received the B.S. degree in Mechanical Design and Production Engineering and M.S. degree in Mechanical Engineering from Yonsei University in 2001 and 2006 respectively, and the Ph.D. degree in Mechanical Engineering from the University of Wisconsin-Madison in 2014. He is a researcher with Robot Research Initiative at Chonnam National University. His current research interests include high speed manipulation, control, and modeling of cable-driven parallel robots.

Jeong-An Seon received his B.S. and M.S. degrees in the department of mechanical engineering from Chonnam National University, Gwangju, Korea. From 2008 to 2012, he worked as an engineer in the department of development of wafering at Woongjin Energy Co., Ltd, in Korea, where he was involved in new business development and the expansion project of fab2 for wafering process. In 2013, he moved to robot research initiative (RRI) in Chonnam National University where he is now a researcher of the cable robot team. His research interests include cable-driven parallel robot and intelligent robotics for industrial applications.

Jong-Oh Park received his B.S. and M.S. degrees from the Department of Mechanical Engineering, Korea in 1978, 1981 and his Ph.D. in robotics from Stuttgart University, Germany in 1987. From 1982 to 1987, he worked as a guest researcher Fraunhofer-Gesellschaft Institut fur Produktionstechnik und Automatisierung (FhG IPA), Germany. He worked as a principal researcher in Korea Institute of Science and Technology (KIST) from 1987 to 2005 and he was a director of Microsystem Research Center in KIST from 1999 to 2005. In 2005, he moved to Chonnam National University where he is now a full professor of the department of mechanical engineering and a director of robot research initiative (RRI). His research interests include biomedical microrobot, medical robot and service robot.

Seong Young Ko received his B.S., M.S., and the Ph.D. degrees in the Department of Mechanical Engineering from Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 2000, 2002, and 2008, respectively. In 2008, he was a post-doctoral researcher in the Department of Electrical Engineering, KAIST, Korea, and from 2009 to 2011, he was a research associate in the Mechatronics-In-Medicine Laboratory, the Department of Mechanical Engineering, Imperial College London, UK. From October 2011, he is now an associate professor in the Department of Mechanical Engineering, Chonnam National University, Gwangju, Korea. His research interests include medical robotics, human-robot interaction and intelligent control.

Sukho Park received his B.S., M.S., and Ph.D. degrees in the Department of Mechanical Engineering from Korea Advanced Institute of Science and Technology (KAIST), Korea in 1993, 1995, and 2000, respectively. From 2000 to 2004, he worked as a senior research engineer at LG Electronics Production Research Center, Korea. From 2004 to 2006, he worked as a senior researcher of Microsystem Research Center in Korea Institute of Science and Technology (KIST). From 2006 to 2016, he worked as a professor of the School of Mechanical Engineering in Chonnam National University and a section head of the robot research initiative (RRI). In 2017, he moved to Daegu Gyeongbuk Institute of Science and Technology (DGIST), where he is now a full professor in Department of Robotics Engineering. His research interests are microactuator/robot and micromanipulation for biomedical instrumental applications.

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Wang, D., Ahn, J., Jung, J. et al. Winch-integrated mobile end-effector for a cable-driven parallel robot with auto-installation. Int. J. Control Autom. Syst. 15, 2355–2363 (2017). https://doi.org/10.1007/s12555-016-0398-7

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  • DOI: https://doi.org/10.1007/s12555-016-0398-7

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